Beruflich Dokumente
Kultur Dokumente
POLItecnico
di MIlano
Carlo L. Bottasso
Politecnico di Milano
November 2011
Contents
Blade dynamics
Stability
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Blade Dynamics
Acceleration
at hinge H
Hinge
offset
Gravity
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Kinematic quantities:
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Hinge moment:
Aerodynamic
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Gravity
Hinge spring
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Centrifugal load
Gravity
Spring
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Centrifugal stiffness
Hinge offset
(pulsating)
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Set
Solution:
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Amplitude:
Peak response
obtained at freq
ratios smaller than
resonance
Phase:
(From Bramwell 2001)
Forcing at resonance
results in 90 deg delay
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Centrifugal stiffening
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Acceleration at
hinge H due to
Yaw rate
Acceleration at
hinge H due to q
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Kinematic quantities:
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Neglect
(small if q<<)
Kinematic quantities:
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Feathering equilibrium:
Gyroscopic blade
twisting due to yawing
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Centrifugal stiffness
Gravity
Non-rotating freq
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Yaw (Coriolis)
Flap/lag coupling
Flap
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Centrifugal stiffness
Non-rotating frequency
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Flap:
Larger stiffening
effect
Centrifugal force
changes direction
with lag angle
Lag:
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Crossflow
Linear vertical
wind shear
View from
above
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Wind+inflow
Yaw
Flap damping
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Vertical shear
Cross-flow
Rotor speed
Cross-flow
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Flapping moment:
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Non-dimensional
quantities:
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Damping
Flap
Cross-flow
Stiffness
Centrifugal
Nat. freq.
Coning
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Cross-flow
Cross-flow
Yaw
Gyroscopic
Gravity
Vertical shear
Aerodynamic
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View from
above
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where:
Axisymmetric flow
term
Gravity
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FG
CF
VS
Y
FG: flow+gravity
VS: vertical wind shear
CF: cross-flow
Y: yaw
FG
Cyclic sharing (ratio of sine and cosine harmonic amplitudes):
Hinged blade:
Mostly yawing
Stiff blade:
Mostly tilting
This can also be explained in terms of phase lag: gravity is a cosine input
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Centrifugal stiffness
Non-rotating frequency
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Centrif. Gravity
Nat. freq.
Lag-flap coupling
Gravity
Steady lag
Cross-flow
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Yaw
Vertical shear
Undamped oscillator:
Remarks:
- In reality, there is small damping term due to changes in drag
(neglected in the present derivations)
- In any case, damping in lag is much smaller than in flap (see later on)
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where:
Axisymmetric flow
term
Axisymmetric flow
term
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Rotor torque:
Rotating frame: complex Fourier
series expansion of in-plane blade
shear and bending moment
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CG of K-th blade:
CG of whole rotor:
(compare with Coleman
transform)
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Frequency -
Direction depends on sign
(regressive when negative)
Frequency +
Same direction as
(progressive)
Typically for wind turbines
, hence
(2 progressive)
Coefficients:
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Progressive +
Possible resonant
conditions
Progressive -
2nd side-side tower mode
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Aerodynamic Damping
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Airfoil speed
Aerodynamic Damping
Damping
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Aerodynamic Damping
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Airfoil speed
Aerodynamic Damping
Damping
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Small compared
to CL
Aerodynamic Damping
Rotor plane
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Aerodynamic Damping
The larger of
the two
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Aerodynamic Damping
Rotor plane
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Aerodynamic Damping
Mean damping
The larger of
the two
Divergence
Structural deflection under aerodynamic loading that enhances further
the aerodynamic loading itself
Aerodynamic
center
Elastic
axis
Structural
deformation
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Divergence
Lift:
Aerodynamic moment:
Structural moment:
Equilibrium:
Structural torsional deflection:
Divergence:
Divergence
dynamic pressure
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Flutter
Flutter
(From Bramwell 2001)
Flap-torsion flutter
Torsional stiffness
parameter
Flap-lag flutter
CG aft movement
Flap-lag-torsion flutter
Coupling with tower modes (bending and/or torsion) (very unlikely, would require
extremely soft support)
Stall-induced flutter
Due to coupling between torsional blade deflection and dynamic stall effects on
the airfoil aerodynamic pitching moment
Leads to limit cycle oscillation
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Flutter
Dynamic stall:
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Flutter
Dynamic stall:
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Flutter
Dynamic stall:
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Flutter
Stall-induced flutter
Counter-clockwise
loop
Clockwise loop
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Flutter
Stall-induced flutter
Oscillating motion:
Aerodynamic moment:
Work:
Flutter
Stall-induced flutter
Vortex-shedding
Large hysteresis, large rapid change in airloads
Less sensitive to parameters
Airfoil type
Frequency of motion
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Stability
Unstable behavior
Apparent wind
on rotor plane
Stable behavior
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TSR:
Stable behavior
Unstable behavior
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Stability Analysis
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Contents
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Solution:
Autonomous problem:
Spectral decomposition:
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Eigenvalue matrix:
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Definition:
Continuous time:
Discrete time:
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to time
Introducing
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we get
And the relationship between continuous and discrete time forms is:
Autonomous problem:
Spectral decomposition:
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where
Having
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LTP Systems
Wind turbine models are characterized by periodic coefficients
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LTP Systems
Linear Time Periodic (LTP) system:
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LTP Systems
Autonomous problem (i.e.
):
and
then the transition matrix obeys the following
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LTP Systems
Other important remark:
, we get
Constant matrix
Periodic
is periodic
In fact
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Since
is periodic, it is also bounded, and therefore the stability
conditions for
are the same as the ones for
Then
and using
and
we get the LTI
whose stability is dictated by the eigenvalues of matrix
(
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)
POLI-Wind Research Lab
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(Remark: since
and
: characteristic exponents
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are
: characteristic multipliers
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Since
and
is
!!!
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Notice that
where
where
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and
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and
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is now understood:
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LTI:
LTP:
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2.
3.
4.
5.
6.
Remarks:
- Potentially expensive! To get the transition matrix numerically by perturbation
requires integrating the system for one period for each degree of freedom in
the model
- Need high accuracy integration (perturbation needs to be small for linearity of
response, need to capture effect of perturbation on response)
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Remark: for
the system is LTI with one pair of complex poles with
frequency 0.7 rad/s and damping factor 0.2
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)
)
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Since
, the system is
asymptotically stable
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-0.1400 + 5.3141i
-0.1400 + 4.6859i
-0.1400 + 4.3141i
-0.1400 + 3.6859i
-0.1400 + 3.3141i
-0.1400 + 2.6859i
-0.1400 + 2.3141i
-0.1400 + 1.6859i
-0.1400 + 1.3141i
-0.1400 + 0.6859i
-0.1400 + 0.3141i
-0.1400 - 0.3141i
-1
-0.1400 - 0.6859i
-0.1400 - 1.3141i
-2
-0.1400 - 1.6859i
-0.1400 - 2.3141i
-3
-0.1400 - 2.6859i
-0.1400 - 3.3141i
-4
-0.1400 - 3.6859i
-0.1400 - 4.3141i
-5
-0.1400 - 4.6859i
-0.1400 - 5.3141i
Compute
Notice that
by 180 degree
and
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5.3160
0.0263
0.00
4.6879
0.0299
0.00
4.3164
0.0324
0.00
3.6885
0.0380
0.00
3.3171
0.0422
0.00
2.6895
0.0521
0.00
2.3184
0.0604
0.00
1.6917
0.0828
0.00
1.3216
0.1059
0.00
0.7000
0.2000
1.00
0.3639
0.4071
0.00
0.3639
0.4071
0.00
-1
0.7000
0.2000
1.00
-1
1.3216
0.1059
0.00
-2
1.6917
0.0828
0.00
-2
2.3184
0.0604
0.00
-3
2.6895
0.0521
0.00
-3
3.3171
0.0422
0.00
-4
3.6885
0.0380
0.00
-4
4.3164
0.0324
0.00
-5
4.6879
0.0299
0.00
-5
5.3160
0.0263
0.00
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Since
, the system is
asymptotically stable.
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-0.1400 + 0.3579i
-0.1400 + 4.6421i
-0.1400 + 0.3579i
-0.1400 + 3.6421i
-0.1400 + 0.3579i
-0.1400 + 2.6421i
-0.1400 + 0.3579i
-0.1400 + 1.6421i
-0.1400 + 0.3579i
-0.1400 + 0. 6421i
-0.1400 + 0.3579i
-0.1400 - 0.3579i
-1
-0.1400 - 0.6421i
-0.1400 - 1.3579i
-2
-0.1400 1.6421i
-0.1400 - 2.3579i
-3
-0.1400 - 2.6421i
-0.1400 - 3.3579i
-4
-0.1400 - 3.6421i
-0.1400 - 4.3579i
-5
-0.1400 - 4.6421i
-0.1400 - 5.3579i
Compute
Notice that
by 180 degree
and
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5.3597
0.0261
0.0000
4.6442
0.0301
0.0001
4.3602
0.0321
0.0002
3.6448
0.0384
0.0018
3.3608
0.0417
0.0019
2.6458
0.0529
0.0196
2.3621
0.0593
0.0179
1.6480
0.0850
0.1121
1.3651
0.1026
0.0892
0.6572
0.2131
0.4769
0.3843
0.3643
0.2802
0.3843
0.3643
0.2802
-1
0.6572
0.2131
0.4769
-1
1.3651
0.1026
0.0892
-2
1.6480
0.0850
0.1121
-2
2.3621
0.0593
0.0179
-3
2.6458
0.0529
0.0196
-3
3.3608
0.0417
0.0019
-4
3.6448
0.0384
0.0018
-4
4.3602
0.0321
0.0002
-5
4.6442
0.0301
0.0001
-5
5.3597
0.0261
0.0000
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Continuous system:
Discrete system:
Resulting C/D equations
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):
and
then the transition matrix obeys the following
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Constant matrix
, we get
Periodic
Constant matrix
is periodic
In fact
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Since
is periodic, it is also bounded, and therefore the stability
conditions for
are the same as the ones for
Then
and using
and
we get the LTI
whose stability is dictated by the eigenvalues of matrix
(
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)
POLI-Wind Research Lab
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(Remark: since
and
: characteristic exponents
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are
: characteristic multipliers
POLI-Wind Research Lab
Since
and
is
!!!
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Notice that
where
where
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and
All
LTP exponents,
, are present in the system
response, and matrices
determine their relative contribution
Definition: modal participation factor
Measure of relative strength of the n-th harmonic in j-th mode
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and
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State-space model:
):
Reordering:
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ARX sequence:
Neglecting
AR part
X part
(Auto-Regressive) (eXogeneous)
Remark: the AR and X part could have different orders (i.e. a different
number of coefficients)
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Compute response:
ARX sequence of order 2 for the AR-part and order 1 for the X-part:
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where
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Approach 1:
Compute
matrix with canonical realization
Compute eigenvalues, then frequencies and damping factors of interest
Approach 2:
s.t.
where
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(Approach 2 continued)
Compute frequencies
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, discrete poles
with
and
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where
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and
The realization of a periodic state-space model from a periodic inputoutput model is more complicated than in the LTI case (need to ensure
that simulation with realized model gives same input-output sequence)
For stability analysis, one needs only the autonomous response
Rigorous (same input-output) realization of the sole AR-part of the
system is as follows
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Remark: no need for model generality, just good fit with measures
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In matrix form:
Constant matrix
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Dummy periodic
exogenous input
POLI-Wind Research Lab
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fixed)
where
Lag freq including
centrifugal effect
with offset
Yaw
term
Gravity
Cross-flow
term
Steady lag
term
Vertical shear
term
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Fourier reformulation:
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Excitations (inputs)
Response (outputs)
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1P
9P
3P
6P
12P
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Time domain
Frequency domain
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Time domain
Frequency domain
First blade
edgewise mode
Excitation: doublet of
In-plane blade tip force
Generator torque
Rotor in-plane
mode
Outputs:
Blade root bending moment
Shaft torque
Rotor in-plane
mode
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